%%??b系——機體坐標系；????%%????
%%??p系——平臺坐標系；????%%
%%??n系——導航坐標系；????%%?
%%??i系——地心慣性坐標系；%%
%%??t系——地理坐標系；????%%
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%%?philamada?計算值，對應平臺坐標系，p系????????%%
%%?latilongi?理論真實值，對應導航坐標系，n系????%%
%%??注意lati、longi與phi、lamda之間相差失準角????%%
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%%??如何記錄地球自轉角速度在坐標系中投影?????????????????????????????????????????????%%
%%??1.地球自轉角速度在導航坐標系投影wien記當地經度、緯度分別為longi、lati.????????????%%
%%???????????????????????????????????則wien?=[?0?wie*cos（lati）?wie*sin（lati）]‘;???%%?
%%??2.地球自轉角速度在平臺坐標系投影wiep記當地經度、緯度分別為lamda、phi.?????????????%%
%%???????????????????????????????????則wiep?=[?0?wie*cos（phi）?wie*sin（phi）]‘;?????%%
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